... 5ms^4.1

Actually, it is no more necessary to enter this function every 5ms. It was done to reset values that are now set in other functions. This alarm mechanism has to disappear in next versions.

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.